A control system for driving a steam delivery needle in and out by a double motor

Abstract

The application discloses a control system for driving a steam delivery needle to advance and retreat and a steam ablation pistol, and relates to the technical field of medical equipment, in particular to a control system for driving a steam delivery needle to advance and retreat and a steam ablation pistol. The control system comprises a double-motor driving module, which comprises an upper string motor driving circuit, a firing motor driving circuit and a thrust feedback module. The upper string motor driving circuit is used for executing the rotation of the upper string motor according to a first control instruction, driving the steam delivery needle to move back and forth until the steam delivery needle moves to a target position. The firing motor driving circuit is used for executing the rotation of the firing motor according to a second control instruction, and the locking or instantaneous release of a transmission component is controlled through a limiting component arranged on the shaft of the firing motor. The thrust feedback module is used for detecting the position reached by the transmission component and feeding back the limiting information reached by the transmission component to a main control module. The main control module is used for sending the first control instruction to the upper string motor driving circuit according to the limiting information, and sending the second control instruction to the firing motor driving circuit under the condition that the upper string motor driving circuit moves to the target position to control the pre-tightening force, so as to complete the rapid puncture and needle return of the steam delivery needle.

Description

Technical Field

[0001] This invention belongs to the field of medical devices, and particularly relates to a control system for the advance and retreat of a steam delivery needle driven by dual motors and a steam ablation pistol. Background Technology

[0002] Currently, steam ablation is widely used to treat benign prostatic hyperplasia (BPH). The steam ablation pistol is a device used in steam ablation surgery to control the needle and steam delivery. It mainly includes a steam generator, a steam delivery needle, and a control device for controlling the needle's movement. Typical steam ablation pistols use electromagnetic drives for the needle's movement, but electromagnetic drives are not very precise and are difficult to control accurately.

[0003] Patent CN115005967A discloses a steam ablation pistol, steam ablation device, and control method. This pistol includes a casing and a puncture needle. The casing has a control panel and a motor-driven lead screw transmission mechanism. A control button is also located on the casing. The motor-driven lead screw transmission mechanism is connected to the steam delivery needle. The control button controls the operation of the motor-driven lead screw transmission mechanism, thereby controlling the advance and retreat of the steam delivery needle, as well as controlling the output of steam and water. This invention uses a button to control the motor-driven lead screw transmission mechanism to move the puncture needle forward and backward, achieving high control precision and improving the accuracy of steam ablation surgery. However, the operating speed of the motor-controlled lead screw is often relatively slow, making it impossible to instantly puncture the skin to reach the prostate lesion or abnormal hyperplasia tissue for thermal ablation and repair. Summary of the Invention

[0004] The technical objective of this invention is to provide a control system and method for the advance and retraction of a steam delivery needle driven by dual motors. By controlling the dual motors, the puncture needle can convert the spring into the potential energy of the spring, generating an instantaneous excitation force, thereby improving the efficiency of the advance and retraction of the steam delivery needle and enabling precise control of the needle length.

[0005] To solve the above problems, the technical solution of the present invention is as follows:

[0006] This invention provides a control system for the advance and retraction of a steam delivery needle driven by a dual-motor motor, applicable to steam ablation pistols. The system includes a main control module and a dual-motor drive module, an induction heating module, and a thrust feedback module connected to the main control module.

[0007] The dual-motor drive module includes an upper winding motor drive circuit and a generator drive circuit.

[0008] The upper winding motor drive circuit is used to execute the rotation of the upper winding motor according to the first control command, and drive the steam delivery needle to move back and forth through the transmission component of the lead screw transmission mechanism until the steam delivery needle moves to the target position to control the preload to the target compression amount;

[0009] The generator drive circuit is used to execute the rotation of the generator according to the second control command, and to control the locking or instantaneous release of the transmission component by the limiting component set on the generator shaft, so as to realize the rapid needle extension and retraction of the steam delivery needle.

[0010] The induction heating module is connected to the main control module and is used to feed back the temperature signal at the handle end to the main control module. Based on the current temperature signal, the temperature at the handle end is adjusted so that the temperature of the output steam is kept at a preset constant value.

[0011] The thrust feedback module includes a first Hall switch interface circuit and a second Hall switch interface circuit, used to detect the position reached by the transmission component and feed back the current limit information to the main control module.

[0012] The main control module is used to send a first control command to the upper winding motor drive circuit according to the limit information, and to send a second control command to the generator drive circuit when the upper winding motor drive circuit moves to the target position and controls the pretension force, so as to complete the rapid puncture and needle return of the steam delivery needle.

[0013] Preferably, in the needle retraction mode, the upper winding motor is controlled to rotate forward to perform the needle retraction operation. It is then determined whether the current operation triggers the lower limit of XW_IO1 and returns to the starting position. If the lower limit of XW_IO1 is not triggered, the upper winding motor returns to rotate forward to continue performing the needle retraction operation. If the lower limit of XW_IO1 is triggered, the upper winding motor stops working, and the generator is controlled to rotate forward to lock the transmission component to the limit. It is then determined whether the current operation triggers the limit of XW_IO4. If the limit of XW_IO4 is not triggered, the generator returns to rotate forward to continue locking the transmission component to the limit. If the limit of XW_IO4 is triggered, the generator stops working.

[0014] In needle-out mode, the upper winding motor is controlled to reverse to perform the needle-out operation. It is determined whether the current operation triggers the preset needle-out limit. If the preset needle-out limit is not triggered, the upper winding motor is returned to reverse to continue performing the needle-out operation. If the preset needle-out limit is triggered, the upper winding motor is stopped, and the generator is controlled to reverse to release the limit of the transmission component. It is determined whether the current operation triggers the XW_IO5 release limit. If the XW_IO5 release limit is not triggered, the generator is returned to reverse to continue releasing the limit of the transmission component. If the XW_IO5 release limit is triggered, the generator is stopped.

[0015] The preset needle exit limit includes the middle limit of XW_IO2 and the upper limit of XW_IO3. The needle exit length of the lower limit of XW_IO1 is 0, which is the starting position. The needle exit length of the upper limit of XW_IO3 is greater than the needle exit length of the middle limit of XW_IO2 and the needle exit length of the lower limit of XW_IO1.

[0016] Preferably, when the upper winding motor reverses and triggers the middle limit switch of XW_IO2, the needle length is 11mm; when the upper winding motor reverses and triggers the upper limit switch of XW_IO3, the needle length is 23mm.

[0017] Preferably, in the needle dispensing mode,

[0018] Determine the relationship between the movement distance driven by the corresponding motor and the running time of the upper swivel motor;

[0019] Configure the needle length, obtain the time t1 from the starting position to the middle limit and the time t2 from the upper limit to perform one needle extension operation, and calculate the movement time per millimeter T=(t2-t1) / 12;

[0020] The target length of the needle is controlled based on the real-time calculated motion time T per millimeter. If the needle needs to be extended by L1mm, the upper winding motor is driven to reverse until the middle limit is triggered to achieve the needle extension length L2mm.

[0021] By controlling the corresponding motor drive to continue running for L times T time, the needle will continue to extend Lmm to reach the target needle extension length, thereby precisely controlling the running time of the upper winding motor;

[0022] Where L = L1 - L2, L is the multiple of the running time after the middle limit is triggered, that is, the length of the needle that continues to emerge after the middle limit is triggered, and L2 is the needle emergence length that reaches the middle limit.

[0023] Preferably, the steam delivery needle is instantly ejected to the position of the transmission component under the action of the spring preload, completing the rapid puncture of the steam delivery needle, wherein the compression range under the action of the spring preload is 23mm to 52mm;

[0024] Before needle insertion, the spring compression is set to 35mm and the spring force is set to 42.7N, which ensures that the steam delivery needle can smoothly penetrate the urethral wall and enter the prostate tissue.

[0025] After the needle is withdrawn, the current spring compression is at least 10mm and the spring force is at least 12.2N, which can maintain the stability of the steam delivery needle after puncture and reaching the target position;

[0026] During needle withdrawal, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that the steam delivery needle can be subjected to sufficient force to remain stable during needle withdrawal without damaging the tissue.

[0027] During needle withdrawal, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after withdrawal, avoiding positional displacement or puncture failure due to insufficient force.

[0028] The first target elastic force is the maximum elastic force of 45N when the spring is fully compressed, and the second target elastic force is the minimum elastic force of 9.8N when the steam delivery needle is subjected to force and maintains the puncture position.

[0029] Preferably, the upper-winding motor drive circuit includes a motor drive chip U6, resistors R18, R19, and R20, and a capacitor C10. The first port of the motor drive chip U6 is grounded, the second port of the motor drive chip U6 receives the M_IN2 motor signal, the third port of the motor drive chip U6 receives the M_IN1 motor signal, the fourth port of the motor drive chip U6 is connected to the resistor R18 and connected to a power supply, the fifth port of the motor drive chip U6 is connected to the capacitor C10 and grounded, and the fifth port of the motor drive chip U6 is connected to a 24V power supply, the sixth port of the motor drive chip U6 is connected to the second port of a connector, the seventh port of the motor drive chip U6 is connected to the resistor R20 and grounded, the eighth port of the motor drive chip U6 is connected to the second port of a connector, and the ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U6.

[0030] Preferably, the generator drive circuit includes a motor drive chip U7, resistors R21, R22, and R23. The first port of the motor drive chip U7 is grounded, the second port of the motor drive chip U7 receives the M2_IN2 motor signal, the third port of the motor drive chip U7 receives the M2_IN1 motor signal, the fourth port of the motor drive chip U7 is connected to resistor R21 and connected to a 5V power supply, the fifth port of the motor drive chip U7 is connected to a 12V power supply, the sixth port of the motor drive chip U7 is connected to the second port of a connector, the seventh port of the motor drive chip U7 is connected to resistor R23 and grounded, the eighth port of the motor drive chip U7 is connected to the first port of a connector, and the ninth port of the motor drive chip U7 is connected to the fourth port of the motor drive chip U7.

[0031] Preferably, the first Hall switch interface circuit includes resistors R7, R8, and R9. One end of resistor R7, one end of resistor R8, and one end of resistor R9 receive the upper limit control signal XW_IO3, the middle limit control signal XW_IO2, and the lower limit control signal XW_IO1, respectively. The other ends of resistors R7, R8, and R9 are connected to a power supply. The first port of connector CON-4PB is connected to the power supply, and the third port of connector CON-4PB receives the lower limit control signal XW_IO1. The fourth port of connector CON-4PB receives the middle limit control signal XW_IO2.

[0032] The second Hall switch interface circuit includes resistors R24, R25, and R26. One end of resistor R24, one end of resistor R25, and one end of resistor R26 receive the XW_IO6 control signal, the XW_IO5 release limit control signal, and the XW_IO4 lock limit control signal, respectively. The other ends of resistors R24, R25, and R26 are all connected to a power supply. The first port of connector CON-5PB is connected to the power supply, and the third port of connector CON-5PB receives the XW_IO4 lock limit control signal, the fourth port of connector CON-5PB receives the XW_IO5 release limit control signal, and the fifth port of connector CON-5PB receives the XW_IO6 control signal.

[0033] Preferably, the needle length ranges from 11mm to 23mm.

[0034] The present invention also provides a steam ablation pistol, including a control system for the advance and retreat of a steam delivery needle driven by dual motors as described in the above embodiments.

[0035] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0036] 1. Precise control of needle extension length: Through the coordinated work of the dual motor drive module and the thrust feedback module, the precise needle extension and retraction of the steam delivery needle can be achieved, allowing doctors to adjust the needle extension length according to actual needs, thereby improving the accuracy and safety of the surgery.

[0037] 2. Improved surgical efficiency: Thanks to the dual-motor drive system, needle withdrawal and insertion can be completed quickly, greatly shortening the operation time and improving surgical efficiency.

[0038] 3. Ensure puncture stability: During needle withdrawal, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force. This ensures that the steam delivery needle can maintain its position after withdrawal, avoiding positional deviation or puncture failure due to insufficient force, and helps to ensure the stability and accuracy of puncture.

[0039] 4. Reduced tissue damage: During needle withdrawal, the spring compresses from its maximum to minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force. This ensures that the steam delivery needle receives sufficient force to remain stable during withdrawal without damaging the tissue. This helps reduce damage to surrounding tissues during surgery.

[0040] 5. Temperature control: The induction heating module can control the temperature adjustment of the handle end according to the current temperature signal, so that the temperature of the output steam is kept at a preset constant value, which helps to ensure temperature stability during the operation and improve the safety and comfort of the operation.

[0041] 6. Modular design: The entire system adopts a modular design, including a main control module, a dual-motor drive module, an induction heating module, and a thrust feedback module, making the system more flexible and easier to maintain and upgrade. Attached Figure Description

[0042] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0043] Figure 1 This is a schematic diagram of the steam ablation pistol structure in an embodiment of the present invention;

[0044] Figure 2 This is an overall control schematic diagram of the control system for the advance and retraction of a steam delivery needle, which includes dual motors, in an embodiment of the present invention.

[0045] Figure 3 This is a schematic diagram of the structure of the induction heating module in an embodiment of the present invention;

[0046] Figure 4 This is a schematic diagram of the circuit structure of the dual-motor drive module in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the generator drive circuit structure in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the needle withdrawal and needle extension logic in an embodiment of the present invention. Detailed Implementation

[0049] The following specific examples illustrate the embodiments of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise stated, "a plurality of" means two or more.

[0050] It should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0051] This invention provides a control system for the advance and retreat of a steam delivery needle driven by a dual-motor motor, applicable to a steam ablation pistol. The steam ablation pistol includes a housing 1 and a puncture needle 2 connected to the housing 1. The bottom of the housing 1 has a pipeline interface 11 for connecting cooling water and steam. The housing 1 has a heating element 3 inside. One end of the puncture needle 2 is connected to the housing 1, and the other end has a delivery head 22 for insertion into the human body. The puncture needle 2 has two chambers for passing through a steam delivery needle 21 and a cooling water conduit (not shown in the figure), respectively. Steam is input from the pipeline interface 11, heated by the heating element 3, and then input into the steam delivery needle 21. Cooling water is input from the pipeline interface 11 into the cooling water conduit and flows out from the delivery head 22 to cool the tissue around the lesion. The housing 1 includes a control board 4 and a needle-ejection activation device 5. The housing 1 has a control button 9, which is electrically connected to the control board 4. The needle-ejection activation device 5 is connected to the steam delivery needle 21. The control button 9 controls the operation of the needle-ejection activation device 5, thereby controlling the advance and retreat of the steam delivery needle 21, as well as controlling the steam output and cooling water output. The needle-ejection activation device 5 includes a lead screw transmission mechanism, a ejection mechanism, and an activation mechanism. The lead screw transmission mechanism controls the needle-ejection distance of the steam delivery needle 21, the ejection mechanism instantly ejects the steam delivery needle 21 for rapid puncture, and the activation mechanism activates the ejection mechanism. The lead screw transmission mechanism includes a first motor 51, a first motor mounting bracket 52, a transmission lead screw 53, and a lower slider 54. The first motor 51 is fixedly connected to the housing 1 via the first motor mounting bracket 52. The motor shaft of the first motor 51 is fixedly connected to the transmission lead screw 53. The lower slider 54 is threadedly connected to the transmission lead screw 53. The first motor 51 is electrically connected to the control board 4. The control board 4 controls the rotation of the first motor 51 via control button 9, which drives the transmission lead screw 53 to rotate, thereby driving the lower slider 54 to move back and forth. When the lower slider 54 moves back, it abuts against the ejector mechanism, which can drive the ejector mechanism to move back. When the lower slider 54 moves forward, the ejector mechanism can separate from the lower slider 54. A Hall switch plate 7 is fixed around the transmission lead screw 53 inside the housing 1. The Hall switch plate 7 has a limit switch to limit the movement distance of the lower slider 54. The ejection mechanism includes an upper slider 55 and an elastic element. One end of the elastic element is fixed to the housing 1, and the other end is fixedly connected to the upper slider 55. The steam delivery needle 21 is fixedly connected to the upper slider 55. When the lower slider 54 moves back, the upper slider 55 abuts against the lower slider 54 and moves back together with the lower slider 54. When the lower slider 54 moves forward, the upper slider 55 separates from the lower slider 54.The actuation mechanism includes a second motor 59, a second motor mounting bracket 60, and a limiting swing arm 61. The second motor 59 is fixedly connected to the housing 1 via the second motor mounting bracket 60. The limiting swing arm 61 is mounted on the motor shaft of the second motor 59. The second motor 59 is electrically connected to the control board 4. The second motor 59 controls the limiting swing arm 61 to swing. The limiting swing arm 61 is used for springing. When the lower slider 54 moves back, it drives the upper slider 55 to move back as well, compressing the elastic element. When it returns to the ejection reference position, the second motor 59 controls the limiting swing arm 61 to swing, and the limiting swing arm 61 abuts against the upper slider 55, restricting the movement of the elastic element and realizing the springing of the elastic element. When the lower slider 54 moves to the set puncture distance, the control board 4 controls the second motor 59 to rotate, driving the limiting swing arm 61 to move, releasing the upper slider 55, and realizing the instantaneous ejection of the upper slider 55. The elastic element includes a spring fixing block 56, a spring fixing shaft 57, and a spring 58. The spring fixing block 56 is mounted on the first motor fixing bracket 52, away from the connection between the puncture needle 2 and the housing 1. One end of the spring fixing shaft 57 is located inside the spring fixing block 56, and the other end passes through the upper slider 55 and is fixedly connected to the inner wall of the housing 1. The spring 58 is sleeved on the spring fixing shaft 57 and is limited and fixed between the spring fixing block 56 and the upper slider 55. See below. Figure 1 As shown. Based on the existing structure described above, see [link to previous section]. Figure 2 As shown, the improvement in its control system lies in that it includes a main control module and a dual-motor drive module, an induction heating module, and a thrust feedback module connected to the main control module.

[0052] The dual-motor drive module includes an upper winding motor drive circuit and a generator drive circuit.

[0053] The upper winding motor drive circuit is used to execute the rotation of the upper winding motor according to the first control command, and drive the steam delivery needle to move back and forth through the transmission component of the lead screw transmission mechanism until the steam delivery needle moves to the target position to control the preload to the target compression amount; wherein the transmission component is the aforementioned lower slider.

[0054] The generator drive circuit is used to execute the rotation of the generator according to the second control command, and to control the locking or instantaneous release of the transmission component by the limiting component set on the generator shaft, so as to realize the rapid needle extension and retraction of the steam delivery needle.

[0055] The induction heating module is connected to the main control module and is used to feed back the temperature signal at the handle end to the main control module. Based on the current temperature signal, the module controls the temperature adjustment at the handle end to maintain the output steam temperature at a preset constant value. (See also...) Figure 3As shown, the induction heating module in this embodiment, namely the heating component 3, consists of an induction coil 31, an upper induction heating fixing seat 32, a lower induction heating fixing seat 33, and a coil 34. The coil 34 is coaxially sleeved inside the induction coil 31, and then fixed and limited inside the outer shell by the upper induction heating fixing seat 32 and the lower induction heating fixing seat 33 to minimize direct contact between the induction heating module 3 and the outer shell. This can effectively reduce the heat dissipation to the outer shell and prevent the operator from being burned.

[0056] The thrust feedback module includes a first Hall switch interface circuit and a second Hall switch interface circuit, used to detect the position reached by the transmission component and feed back the current limit information to the main control module; in this embodiment, a thrust feedback module is fixed around the screw transmission mechanism, and the thrust feedback module has a limit switch for limiting the movement distance of the lower slider.

[0057] The main control module is used to send a first control command to the upper winding motor drive circuit according to the limit information, and to send a second control command to the generator drive circuit when the upper winding motor drive circuit moves to the target position and controls the pretension force, so as to complete the rapid puncture and needle return of the steam delivery needle.

[0058] See Figure 4 As shown, the upper-winding motor drive circuit includes a motor drive chip U6, resistors R18, R19, and R20, and a capacitor C10. The first port of the motor drive chip U6 is grounded. The second port of the motor drive chip U6 receives the M_IN2 motor signal. The third port of the motor drive chip U6 receives the M_IN1 motor signal. The fourth port of the motor drive chip U6 is connected to the resistor R18 and connected to the power supply. The fifth port of the motor drive chip U6 is connected to the capacitor C10 and grounded, and is also connected to a 24V power supply. The sixth port of the motor drive chip U6 is connected to the second port of the connector. The seventh port of the motor drive chip U6 is connected to the resistor R20 and grounded. The eighth port of the motor drive chip U6 is connected to the second port of the connector. The ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U6.

[0059] The generator drive circuit includes a motor driver chip U7, resistors R21, R22, and R23. The first port of the motor driver chip U7 is grounded. The second port of the motor driver chip U7 receives the M2_IN2 motor signal. The third port of the motor driver chip U7 receives the M2_IN1 motor signal. The fourth port of the motor driver chip U7 is connected to resistor R21 and connected to a 5V power supply. The fifth port of the motor driver chip U7 is connected to a 12V power supply. The sixth port of the motor driver chip U7 is connected to the second port of a connector. The seventh port of the motor driver chip U7 is connected to resistor R23 and grounded. The eighth port of the motor driver chip U7 is connected to the first port of a connector. The ninth port of the motor driver chip U7 is connected to the fourth port of the motor driver chip U7.

[0060] See Figure 5 As shown, the first Hall switch interface circuit includes resistors R7, R8, and R9. One end of resistor R7, one end of resistor R8, and one end of resistor R9 receive the upper limit control signal XW_IO3, the middle limit control signal XW_IO2, and the lower limit control signal XW_IO1, respectively. The other ends of resistors R7, R8, and R9 are connected to a power supply. The first port of connector CON-4PB is connected to the power supply, and the third port of connector CON-4PB receives the lower limit control signal XW_IO1. The fourth port of connector CON-4PB receives the middle limit control signal XW_IO2.

[0061] The second Hall switch interface circuit includes resistors R24, R25, and R26. One end of resistor R24, one end of resistor R25, and one end of resistor R26 receive the XW_IO6 control signal, the XW_IO5 release limit control signal, and the XW_IO4 lock limit control signal, respectively. The other ends of resistors R24, R25, and R26 are all connected to a power supply. The first port of connector CON-5PB is connected to the power supply, and the third port of connector CON-5PB receives the XW_IO4 lock limit control signal, the fourth port of connector CON-5PB receives the XW_IO5 release limit control signal, and the fifth port of connector CON-5PB receives the XW_IO6 control signal.

[0062] See Figure 4 As shown, interface J1 connects to the upper spool motor, which is powered by 24V. When the upper spool motor rotates, it drives the lower slider on the lead screw to compress the spring. The driving torque can be calculated using the following formula:

[0063] Drive torque: ,

[0064] M: Motor output torque; T: Axial thrust (>45N); h: Lead (6mm); η: Transmission efficiency;

[0065] The spring force when fully compressed is 45N, and the transmission efficiency is 95%. The required motor torque is 3 times the driving torque, which is approximately 1.35 kg·cm.

[0066] Interface J2 connects to the generator, which is powered by 12V. When the upper winding motor rotates, it drives the lower slider on the lead screw to compress the spring to the designated position, triggering the generator to rotate. The triggering arm then locks the upper slider, thus completing the needle retraction action. When the needle ejection signal is triggered, the generator rotates in the opposite direction, and the triggering arm releases the upper slider. Under the action of the compressed spring, the puncture needle is quickly ejected.

[0067] The following is an explanation of the motor operation status control and the corresponding Hall switch limit.

[0068] Table 1 Pin Configurations Corresponding to Motor Operating States

[0069] Motor operating status Glide, hibernate Forward Reversal brake Upper chord motor: M_IN1 0 1 0 1 Upper chord motor: M_IN2 0 0 1 1 Generator activation: M2_IN1 0 1 0 1 Generator activation: M2_IN2 0 0 1 1

[0070] (Note: 0 represents low level, 1 represents high level)

[0071] Table 2 Explanation of Motor and Corresponding Hall Switch Limits

[0072]

[0073] In this embodiment, the needle extension length ranges from 11mm to 23mm, which can meet the anatomical structure of the prostate and the treatment needs. The prostate can be divided into the peripheral zone, transition zone, and central zone, with the peripheral zone accounting for approximately 70% of the male prostate volume and most prostate cancers originating in this area. This needle extension length range allows for precise puncture into the peripheral tissue to achieve effective treatment, while avoiding unnecessary damage to surrounding healthy tissues.

[0074] In this embodiment, in the needle retraction mode, the upper winding motor is controlled to rotate forward to perform the needle retraction operation. It is determined whether the current operation triggers the lower limit of XW_IO1 and returns to the starting position. If the lower limit of XW_IO1 is not triggered, the upper winding motor returns to rotate forward to continue performing the needle retraction operation. If the lower limit of XW_IO1 is triggered, the upper winding motor stops working, and the generator is controlled to rotate forward to lock the transmission component to the limit. It is determined whether the current operation triggers the limit of XW_IO4. If the limit of XW_IO4 is not triggered, the generator returns to rotate forward to continue locking the transmission component to the limit. If the limit of XW_IO4 is triggered, the generator stops working.

[0075] In needle-out mode, the upper winding motor is controlled to reverse to perform the needle-out operation. It is determined whether the current operation triggers the preset needle-out limit. If the preset needle-out limit is not triggered, the upper winding motor is returned to reverse to continue performing the needle-out operation. If the preset needle-out limit is triggered, the upper winding motor is stopped, and the generator is controlled to reverse to release the limit of the transmission component. It is determined whether the current operation triggers the XW_IO5 release limit. If the XW_IO5 release limit is not triggered, the generator is returned to reverse to continue releasing the limit of the transmission component. If the XW_IO5 release limit is triggered, the generator is stopped.

[0076] The preset needle exit limit includes the middle limit of XW_IO2 and the upper limit of XW_IO3. The needle exit length of the lower limit of XW_IO1 is 0, which is the starting position. The needle exit length of the upper limit of XW_IO3 is greater than the needle exit length of the middle limit of XW_IO2 and the needle exit length of the lower limit of XW_IO1.

[0077] Specifically, when the upper winding motor reverses and triggers the middle limit switch of XW_IO2, the needle length is 11mm; when the upper winding motor reverses and triggers the upper limit switch of XW_IO3, the needle length is 23mm.

[0078] In this embodiment, in the needle dispensing mode,

[0079] Determine the relationship between the movement distance driven by the corresponding motor and the running time of the upper swivel motor;

[0080] Configure the needle length, obtain the time t1 from the starting position to the middle limit and the time t2 from the upper limit to perform one needle extension operation, and calculate the movement time per millimeter T=(t2-t1) / 12;

[0081] The target length of the needle is controlled based on the real-time calculated motion time T per millimeter. If the needle needs to be extended by L1mm, the upper winding motor is driven to reverse until the middle limit is triggered to achieve the needle extension length L2mm.

[0082] By controlling the corresponding motor drive to continue running for L times T time, the needle will continue to extend Lmm to reach the target needle extension length, thereby precisely controlling the running time of the upper winding motor;

[0083] Where L = L1 - L2, L is the multiple of the running time after triggering the middle limit, that is, the length of needle extension after triggering the middle limit, and L2 is the needle extension length to reach the middle limit. By precisely controlling the running time of the upper winding motor, it is ensured that the steam delivery needle accurately reaches the target position during puncture. Precise control helps to improve the accuracy and safety of the operation and increase the efficiency of the operation.

[0084] Those skilled in the art will understand that the control logic is described below:

[0085] The goals are: 1. Needle retraction; 2. Needle withdrawal, with precise needle withdrawal control, specifically controlling the needle withdrawal length between 11mm and 23mm. (See [link]). Figure 6 As shown,

[0086] 1. Removing the needle

[0087] Depending on the actual installation method, the forward rotation of the upper winding motor retracts the pin; the forward rotation of the generator locks the slider.

[0088] To retract the needle, the upper winding motor needs to be controlled to rotate forward until the lower limit is triggered. Then the upper winding motor stops, and the generator rotates forward to lock the slider, thus completing the needle retraction action.

[0089] 2. Needle withdrawal

[0090] The needle extension length of 11mm is controlled by the middle limit switch. When the upper winding motor reverses and triggers the middle limit switch, the needle extension length is 11mm. Similarly, the needle extension length of 23mm is controlled by the upper limit switch. When the upper winding motor reverses and triggers the upper limit switch, the needle extension length is 23mm.

[0091] The position between 11mm and 23mm can be obtained through specific calculations.

[0092] Since the movement distance of the lead screw slider is on the order of millimeters, and the spring force is obviously less than 45N when fully compressed within the range of 11mm to 23mm, the torque output of the motor can be considered constant. In other words, the slider movement is uniform within the range of 11mm to 23mm.

[0093] With the needle advance setting at 23mm, after one needle advance, the time t1 to reach the middle limit (11mm) and the time t2 to reach the upper limit (23mm) can be obtained. Then, the movement time per millimeter is T = (t2 - t1) / 12.

[0094] For example, if a needle extension of 19mm is required, the winding motor needs to be reversed until the middle limit is triggered, and then the motor needs to continue running for 8 seconds.

[0095] In this embodiment, a momentary striking force is required medically to penetrate the urethral wall. The urethral wall is elastic, meaning the outer wall of the prostate is elastic, similar to an elastic fiber. The puncture needle needs to convert the spring into its potential energy, and its length is adjustable. The needle extension length is adjusted according to the location and depth of the medical lesion. The momentary striking force is >30N, and a motor is used to compress the slider.

[0096] When a preset position / pre-compression amount is reached, the motor transmits power to the slider via a lead screw, and the slider drives the needle to exert force instantaneously.

[0097] The steam delivery needle is instantly ejected to the position of the transmission component under the action of spring preload, completing the rapid puncture of the steam delivery needle. Under the action of spring preload, the compression range is 23mm to 52mm.

[0098] Before needle insertion, the spring compression is set to 35mm and the spring force is set to 42.7N, which ensures that the steam delivery needle can smoothly penetrate the urethral wall and enter the prostate tissue.

[0099] After the needle is withdrawn, the current spring compression is at least 10mm and the spring force is at least 12.2N, which can maintain the stability of the steam delivery needle after puncture and reaching the target position;

[0100] During needle withdrawal, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that the steam delivery needle can be subjected to sufficient force to remain stable during needle withdrawal without damaging the tissue.

[0101] During needle withdrawal, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after withdrawal, avoiding positional displacement or puncture failure due to insufficient force.

[0102] The first target elastic force is the maximum elastic force of 45N when the spring is fully compressed, and the second target elastic force is the minimum elastic force of 9.8N required for the steam delivery needle to be stressed and maintain the puncture position. Precise needle withdrawal and retraction are achieved by accurately controlling the compression and release of the spring. During retraction, the spring compression generates sufficient force to maintain stability; while during withdrawal, the gradual release of the spring ensures that the force on the puncture needle is never less than 9.8N, thus maintaining the positional stability of the puncture needle. This design has broad application prospects in the medical field, especially in puncture procedures requiring high precision and stability.

[0103] During implementation, in the initial state, the spring 58 is in a fully relaxed state with minimal compression, and the upper slider 55 and lower slider 54 are located near the outlet end of the steam delivery needle 2.

[0104] When the return needle operation begins, click the return needle button 92. The upper winding motor 51 controls the transmission screw 53 to move. The transmission screw 53 drives the lower slider 54 to move back. At this time, the lower slider 54 drives the upper slider 55 to move back together. The upper slider 54 compresses the spring 58 to the maximum compression. The generator 59 controls the motor limit arm 61 to swing and abut against the upper slider 55, blocking the movement of the upper slider 55.

[0105] When the needle ejection operation begins, press and hold the needle ejection button 91. The control board 4 controls the upper winding motor 51 to rotate according to the set distance, driving the lower slider 54 to move forward. When the lower slider 54 moves to the set distance, the control board 4 controls the generator 59 to swing the limit arm 61. Under the pre-tension of the spring 58, the upper slider 55 is instantly ejected to the position of the lower slider 54, completing the rapid puncture of the steam delivery needle 22.

[0106] The entire needle compression range is between 23mm and 52mm. During needle withdrawal, the spring compresses from 52mm to 23mm, with the elastic force changing from 9.8N to 45N. Upon needle removal, the spring extends from 23mm to 52mm, with the elastic force changing from 45N to 9.8N. The force on the puncture needle is consistently no less than 9.8N, effectively maintaining the needle's position after removal. The urethral wall, composed of the mucosa, submucosa, and muscle layer, possesses good elasticity. Before needle removal, the spring compression is 35mm, and the spring force is 42.7N, ensuring the puncture needle can smoothly penetrate the urethral wall and enter the prostate tissue. After removal, the spring compression remains at least 10mm, and the spring force at least 12.2N, effectively maintaining the needle's position after puncture and facilitating precise steam ablation treatment of the prostate.

[0107] Table 3 Comparison of Spring Compression and Needle Extension Length Before and After Needle Extension

[0108]

[0109] Based on the same inventive concept, the present invention also provides a steam ablation pistol, including a control system for the advance and retreat of a steam delivery needle driven by dual motors as described above. The specific principle is the same as above and will not be repeated here.

[0110] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A control system for the advance and retraction of a steam delivery needle driven by dual motors, characterized in that, Suitable for vapor ablation pistols, including a main control module and a dual-motor drive module, an induction heating module, and a thrust feedback module connected to the main control module. The dual-motor drive module includes an upper winding motor drive circuit and a generator drive circuit. The upper winding motor drive circuit is used to execute the rotation of the upper winding motor according to the first control command, and drive the steam delivery needle to move back and forth through the transmission component of the lead screw transmission mechanism until the steam delivery needle moves to the target position to control the preload to the target compression amount; The generator drive circuit is used to execute the rotation of the generator according to the second control command, and to control the locking or instantaneous release of the transmission component by the limiting component set on the generator shaft, so as to realize the rapid needle extension and retraction of the steam delivery needle. The induction heating module is connected to the main control module and is used to feed back the temperature signal at the handle end to the main control module. Based on the current temperature signal, the temperature at the handle end is adjusted so that the temperature of the output steam is kept at a preset constant value. The thrust feedback module includes a first Hall switch interface circuit and a second Hall switch interface circuit, used to detect the position reached by the transmission component and feed back the current limit information to the main control module; The main control module is used to send a first control command to the upper winding motor drive circuit according to the limit information, and to send a second control command to the generator drive circuit when the upper winding motor drive circuit moves to the target position and controls the pretension force, so as to complete the rapid puncture and needle return of the steam delivery needle.

2. The control system for the advance and retraction of the dual-motor-driven steam delivery needle as described in claim 1, characterized in that, In the needle retraction mode, the upper winding motor is controlled to rotate forward to perform the needle retraction operation. It is then determined whether the current operation triggers the lower limit of XW_IO1 and returns to the starting position. If the lower limit of XW_IO1 is not triggered, the upper winding motor returns to rotate forward to continue the needle retraction operation. If the lower limit of XW_IO1 is triggered, the upper winding motor stops working and the generator is controlled to rotate forward to lock the transmission components to the limit. It is then determined whether the current operation triggers the limit lock of XW_IO4. If the limit lock of XW_IO4 is not triggered, the generator returns to rotate forward to continue locking the transmission components to the limit. If the limit lock of XW_IO4 is triggered, the generator stops working. In needle-out mode, the upper winding motor is controlled to reverse to perform the needle-out operation. It is determined whether the current operation triggers the preset needle-out limit. If the preset needle-out limit is not triggered, the upper winding motor is returned to reverse to continue performing the needle-out operation. If the preset needle-out limit is triggered, the upper winding motor is stopped, and the actuator is controlled to reverse to release the limit of the transmission component. It is determined whether the current operation triggers the XW_IO5 release limit. If the XW_IO5 release limit is not triggered, the actuator is returned to reverse to continue releasing the limit of the transmission component. If the XW_IO5 release limit is triggered, the actuator is stopped. The preset needle exit limit includes the middle limit of XW_IO2 and the upper limit of XW_IO3. The needle exit length of the lower limit of XW_IO1 is 0, which is the starting position. The needle exit length of the upper limit of XW_IO3 is greater than the needle exit length of the middle limit of XW_IO2 and the needle exit length of the lower limit of XW_IO1.

3. The control system for the advance and retraction of the steam delivery needle driven by dual motors as described in claim 2, characterized in that, When the upper winding motor reverses and triggers the middle limit switch of XW_IO2, the needle length is 11mm; when the upper winding motor reverses and triggers the upper limit switch of XW_IO3, the needle length is 23mm.

4. The control system for the advance and retraction of the steam delivery needle driven by dual motors as described in claim 2, characterized in that, In the aforementioned needle dispensing mode Determine the relationship between the movement distance driven by the corresponding motor and the running time of the upper swivel motor; Configure the needle length, obtain the time t1 from the starting position to the middle limit and the time t2 from the upper limit to perform one needle extension operation, and calculate the movement time per millimeter T=(t2-t1) / 12; The target length of the needle is controlled based on the real-time calculated motion time T per millimeter. If the needle needs to be extended by L1mm, the upper winding motor is driven to reverse until the middle limit is triggered to achieve the needle extension length L2mm. By controlling the corresponding motor drive to continue running for L times T time, the needle will continue to extend Lmm to reach the target needle extension length, thereby precisely controlling the running time of the upper winding motor; Where L = L1 - L2, L is the multiple of the running time after the middle limit is triggered, that is, the length of the needle that continues to emerge after the middle limit is triggered, and L2 is the needle emergence length that reaches the middle limit.

5. The control system for the advance and retraction of the steam delivery needle driven by dual motors as described in claim 1, characterized in that, The steam delivery needle is instantly ejected to the position of the transmission component under the action of spring preload, completing the rapid puncture of the steam delivery needle. Under the action of spring preload, the compression range is 23mm to 52mm. Before needle insertion, the spring compression is set to 35mm and the spring force is set to 42.7N, which ensures that the steam delivery needle can smoothly penetrate the urethral wall and enter the prostate tissue. After the needle is withdrawn, the current spring compression is at least 10mm and the spring force is at least 12.2N, which can maintain the stability of the steam delivery needle after puncture and reaching the target position; During needle withdrawal, the spring is compressed from the maximum compression length to the minimum compression length, and the elastic force changes from the second target elastic force to the first target elastic force, ensuring that the steam delivery needle can be subjected to sufficient force to remain stable during needle withdrawal without damaging the tissue. During needle withdrawal, the spring extends from the minimum compression length to the maximum compression length, and the elastic force changes from the first target elastic force to the second target elastic force, ensuring that the steam delivery needle can maintain its position after withdrawal, avoiding positional displacement or puncture failure due to insufficient force. The first target elastic force is the maximum elastic force of 45N when the spring is fully compressed, and the second target elastic force is the minimum elastic force of 9.8N when the steam delivery needle is subjected to force and maintains the puncture position.

6. The control system for the advance and retraction of the dual-motor-driven steam delivery needle as described in claim 1, characterized in that, The upper-winding motor drive circuit includes a motor drive chip U6, resistors R18, R19, and R20, and a capacitor C10. The first port of the motor drive chip U6 is grounded. The second port of the motor drive chip U6 receives the M_IN2 motor signal. The third port of the motor drive chip U6 receives the M_IN1 motor signal. The fourth port of the motor drive chip U6 is connected to the resistor R18 and connected to the power supply. The fifth port of the motor drive chip U6 is connected to the capacitor C10 and grounded, and is also connected to a 24V power supply. The sixth port of the motor drive chip U6 is connected to the second port of the connector. The seventh port of the motor drive chip U6 is connected to the resistor R20 and grounded. The eighth port of the motor drive chip U6 is connected to the second port of the connector. The ninth port of the motor drive chip U6 is connected to the fourth port of the motor drive chip U6.

7. The control system for the advance and retraction of the steam delivery needle driven by dual motors as described in claim 1, characterized in that, The generator drive circuit includes a motor drive chip U7, resistors R21, R22, and R23. The first port of the motor drive chip U7 is grounded. The second port of the motor drive chip U7 receives the M2_IN2 motor signal. The third port of the motor drive chip U7 receives the M2_IN1 motor signal. The fourth port of the motor drive chip U7 is connected to resistor R21 and connected to a 5V power supply. The fifth port of the motor drive chip U7 is connected to a 12V power supply. The sixth port of the motor drive chip U7 is connected to the second port of a connector. The seventh port of the motor drive chip U7 is connected to resistor R23 and grounded. The eighth port of the motor drive chip U7 is connected to the first port of a connector. The ninth port of the motor drive chip U7 is connected to the fourth port of the motor drive chip U7.

8. The control system for the advance and retraction of the steam delivery needle driven by dual motors as described in claim 1, characterized in that, The first Hall switch interface circuit includes resistors R7, R8, and R9. One end of resistor R7, one end of resistor R8, and one end of resistor R9 receive the upper limit control signal XW_IO3, the middle limit control signal XW_IO2, and the lower limit control signal XW_IO1, respectively. The other ends of resistors R7, R8, and R9 are connected to a power supply. The first port of connector CON-4PB is connected to the power supply, and the third port of connector CON-4PB receives the lower limit control signal XW_IO1. The fourth port of connector CON-4PB receives the middle limit control signal XW_IO2. The second Hall switch interface circuit includes resistors R24, R25, and R26. One end of resistor R24, one end of resistor R25, and one end of resistor R26 receive the XW_IO6 control signal, the XW_IO5 release limit control signal, and the XW_IO4 lock limit control signal, respectively. The other ends of resistors R24, R25, and R26 are all connected to a power supply. The first port of connector CON-5PB is connected to the power supply, and the third port of connector CON-5PB receives the XW_IO4 lock limit control signal, the fourth port of connector CON-5PB receives the XW_IO5 release limit control signal, and the fifth port of connector CON-5PB receives the XW_IO6 control signal.

9. The control system for the advance and retraction of the steam delivery needle driven by dual motors as described in claim 1, characterized in that, The needle length ranges from 11mm to 23mm.

10. A vapor-ablation pistol, characterized in that, The control system for the advance and retraction of a steam delivery needle driven by a dual motor, as described in any one of claims 1 to 9.

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